EP 3495997 A1 20190612 - METHOD OF DETERMINING THE BOUNDARY OF A DRIVEABLE SPACE
Title (en)
METHOD OF DETERMINING THE BOUNDARY OF A DRIVEABLE SPACE
Title (de)
VERFAHREN ZUR BESTIMMUNG DER BEGRENZUNGEN EINER BEFAHRBAREN FLÄCHE
Title (fr)
PROCÉDÉ DE DÉTERMINATION D'UNE LIMITE D'UN ESPACE POUVANT ÊTRE ENTRAÎNÉ
Publication
Application
Priority
GB 201720360 A 20171206
Abstract (en)
A method of determining the characteristics of a scene around a vehicle comprises capturing a stereo pair of images of the scene 200 and processing the images 210 to produce a depth map of the scene 220. Each pixel in the depth map is assigned a value that corresponds to the range of a corresponding region in the scene, the pixels being arranged in a grid of rows and columns with each column of pixels in the grid corresponding to a vertically oriented set of regions in the scene and each row a horizontally oriented set of regions in the scene. The values for one or more columns of pixels in the depth map are binned to form a corresponding histogram 230, each bin in the histogram having a count value that corresponds to the number of pixels in the column that have a depth within the range assigned to the bin. The or each of the range bin histograms are processed to determine for the or each histogram the lowest range bin that is indicative that an object that represents a non-drivable region is present at a depth that lies in the range of depths assigned to the bin, thereby identifying the location of one or more boundary points 280 that lie on a boundary of a drivable space in the scene.
IPC 8 full level
G06K 9/00 (2006.01)
CPC (source: EP US)
G06T 7/593 (2017.01 - US); G06V 20/56 (2022.01 - EP US); G06V 40/1335 (2022.01 - US); H04N 13/00 (2013.01 - US); H04N 2013/0074 (2013.01 - US)
Citation (search report)
- [X] EP 3057063 A1 20160817 - HITACHI AUTOMOTIVE SYSTEMS LTD [JP]
- [XI] EP 2713309 A2 20140402 - RICOH CO LTD [JP]
- [XI] ONIGA FLORIN ET AL: "Fast obstacle detection using U-disparity maps with stereo vision", 2015 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENT COMPUTER COMMUNICATION AND PROCESSING (ICCP), IEEE, 3 September 2015 (2015-09-03), pages 203 - 207, XP032803401, DOI: 10.1109/ICCP.2015.7312630
- [A] ZHENCHENG HU ET AL: "U-V-disparity: an efficient algorithm for stereovision based scene analysis", INTELLIGENT VEHICLES SYMPOSIUM, 2005. PROCEEDINGS. IEEE LAS VEGAS, NV, USA JUNE 6-8, 2005, PISCATAWAY, NJ, USA,IEEE, PISCATAWAY, NJ, USA, 6 June 2005 (2005-06-06), pages 48 - 54, XP010833942, ISBN: 978-0-7803-8961-8, DOI: 10.1109/IVS.2005.1505076
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
DOCDB simple family (publication)
EP 3495997 A1 20190612; EP 3495997 B1 20231011; CN 109886064 A 20190614; CN 109886064 B 20230901; GB 201720360 D0 20180117; US 10972711 B2 20210406; US 2019182467 A1 20190613
DOCDB simple family (application)
EP 18210283 A 20181204; CN 201811487374 A 20181206; GB 201720360 A 20171206; US 201816210399 A 20181205